Add show_{left,right}_ui kwarg to viewer.launch(_passive).

Fixes #857

PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5

doc/changelog.rst

@@ -133,6 +133,8 @@ Python bindings
     camera name used the default camera.
 24. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
     visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
+25. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
+    and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
 
 Simulate
 ^^^^^^^^
@@ -141,21 +143,22 @@ Simulate
    :align: right
    :width: 240px
 
-25. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
+26. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
     :ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
     precisely) with the left and right arrow keys. See screen capture:
 
-26. The ``LOADING...`` label is now shown correctly.
+27. The ``LOADING...`` label is now shown correctly.
     `Contribution <https://github.com/google-deepmind/mujoco/pull/1070>`__ by
     `Levi Burner <https://github.com/aftersomemath>`__.
 
 Bug fixes
 ^^^^^^^^^
 
-27. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
+28. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
     midphase collision trees.
 
-27. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
+29. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
+
 
 Version 2.3.7 (July 20, 2023)
 -----------------------------

doc/python.rst

@@ -191,28 +191,33 @@ illustrative example that does **not** necessarily keep the physics ticking at t
       if time_until_next_step > 0:
         time.sleep(time_until_next_step)
 
-Optionally, ``viewer.launch_passive`` also accepts a callable as a keyword argument ``key_callback``, which gets called
-each time a keyboard event occurs in the viewer window. This allows user scripts to react to various key presses, e.g.,
-pause or resume the run loop when the spacebar is pressed.
+Optionally, ``viewer.launch_passive`` accepts the following keyword arguments.
 
-.. code-block:: python
+- ``key_callback``: A callable which gets called each time a keyboard event occurs in the viewer window. This allows
+  user scripts to react to various key presses, e.g., pause or resume the run loop when the spacebar is pressed.
 
-  paused = False
+  .. code-block:: python
 
-  def key_callback(keycode):
-    if chr(keycode) == ' ':
-      nonlocal paused
-      paused = not paused
+    paused = False
 
-  ...
+    def key_callback(keycode):
+      if chr(keycode) == ' ':
+        nonlocal paused
+        paused = not paused
 
-  with mujoco.viewer.launch_passive(m, d, key_callback=key_callback) as viewer:
-    while viewer.is_running():
-      ...
-      if not paused:
-        mujoco.mj_step(m, d)
-        viewer.sync()
-      ...
+    ...
+
+    with mujoco.viewer.launch_passive(m, d, key_callback=key_callback) as viewer:
+      while viewer.is_running():
+        ...
+        if not paused:
+          mujoco.mj_step(m, d)
+          viewer.sync()
+        ...
+
+- ``show_left_ui_panel`` and ``show_right_ui_panel``: Boolean arguments indicating whether UI panels should be visible
+  or hidden when the viewer is launched. Note that regardless of the values specified, the user can still toggle the
+  visibility of these panels after launch by pressing Tab or Shift+Tab.
 
 .. _PyUsage: